Panasonic FP-E Programming Manual page 815

FP0R
*2: Composite speed range (Initial speed, Maximum speed ) (Hz) <K constant>
6.0Hz to 50kHz [K6 to K50000]
(However, 6.0 Hz is for an angle of 0 deg or 90 dge only. Also, specify K6 when specifying 6.0 Hz.)
− When specifying K1 to K5, it is the same as 6.0 Hz (K6).
− If initial speed is set equal to maximum speed, pulses will be output with no acceleration/deceleration.
− Set the composite speed so that component speed of each axis is 6 Hz or greater.
− Composite speed (Initial speed): 30Hz or less
Note) Cautions regarding specification of composite speed (initial speed)
− The trafectory might not be linear if the initial composite speeds for CH0 and CH2 are not 6.0 Hz or
higher in the formula below.
* When the formula below can't be worked out.
Δx: Short CH of distance between target and current value
Δy: Long CH of distance between target and current value
*3: Acceleration time (ms), Deceleration time (ms) <K constant>
K0 to K32767
If this is 0, pulses will be output for the initial speed (composite speed) as is, with no acceleration/deceleration.
Note: Specify the same value for the acceleration time and deceleration time.
*4: Targe value (Movement distance)
K−8388608 to K8388607
When operating only one axis,
a) In increment mode, set the target value for the axis which will not be operated to 0.
b) In absolute mode, set the target value for the axis which will not be operated the same as the current value.
Note: Infinite feed is not possible during linear interpolation.
*5: Component speed (Initial speed and and maximum speed of each axis)
This is stored as 2 words in real numbers type.
X−axis component speed =
Y−axis component speed =
Component speed and correction
Note the following characteristics according to the component speed of the initial speed calculated by the
above formula *5.
(1) When the initial speed is 1 or higher, and lower than 46Hz, the control up to the maximum frequency to the
degree of 10kHz can be performed.
(2) When the initial speed is 46 or higher, and lower than 184Hz, the control up to 50kHz can be performed.
(3) When the initial speed is 184 or higher, the control up to 50kHz can be performed.
The speed error around 50 kHz will be smallest.
Note that the vector of the composite speed may be deviated at the time the pulse output starts or stops when
the value has been corrected.
Compare with the correction speed of initial speed in the special registers to check whether or not the
specified initial speed is corrected.
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(Composite speed) x (X−axis movement distance)
√((X−axis movement distance)
(Composite speed) x (Y−axis movement distance)
√((X−axis movement distance)
High−level Instructions
2
+ (Y−axis movement distance)
2
+ (Y−axis movement distance)
2
)
2
)
3 − 551